#include "constants.h"
#include "library.h"
#include "stalker/Stalk.h"
#include "stalker/TrackPos.h"

#ifndef STALKER_H_
#define STALKER_H_

class Stalker {
	ros::ServiceClient stalkClient, trackClient;
	ros::Subscriber subg, subi;
	ros::Publisher botPosePub, manPosePub;
	stalker::Stalk stalkService;
	stalker::TrackPos trackService;
	STLPose2D personPose;

	bool manPositionInitialized, botPositionInitialized;
	double stepSize(DD pose1, DD pose2);
public:
	Stalker();
	virtual ~Stalker();
	void loop();
	void poseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg);
	void SetGoal(const geometry_msgs::PoseStamped &msg);
};

#endif /* STALKER_H_ */
